From fa1d5f09f583d49e888d15066d74d47920663113 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期三, 14 一月 2026 13:07:46 +0800
Subject: [PATCH] 1
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 25 ++++++++++++++++++++-----
1 files changed, 20 insertions(+), 5 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 90f5fe9..091f636 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -965,11 +965,11 @@
// 宸烽亾寮哄埗杞集锛屼紭鍏堢骇 > workDirection
if (null != nextLaneDir) {
- nextDirection = nextLaneDir;
+ final double oppNextLaneDir = (nextLaneDir + 180) % 360;
- if (!lastDirection.equals(nextDirection)) {
+ if (!lastDirection.equals(nextLaneDir)) {
if (!lastCode.getCornerBool()) {
- throw new CoolException(agvNo + "鍙峰皬杞﹁繘鍏ュ贩閬撻渶璋冩暣鏂瑰悜涓� " + nextDirection + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
+ throw new CoolException(agvNo + "鍙峰皬杞﹁繘鍏ュ贩閬撻渶璋冩暣鏂瑰悜涓� " + nextLaneDir + "掳锛岃鎺ㄨ嚦杞集鐐规墜鍔ㄨ皟鏁�");
}
// turn
actionList.add(new Action(
@@ -981,15 +981,30 @@
ActionTypeType.TurnCorner.desc, // 鍚嶇О
(double) mapService.spinDirection(lastCode).val, // 灞炴�у��
lastCode.getData(), // 鍦伴潰鐮�
- String.valueOf(nextDirection), // 鍔ㄤ綔鍙傛暟
+ String.valueOf(nextLaneDir), // 鍔ㄤ綔鍙傛暟
ActionTypeType.TurnCorner.val(), // 鍔ㄤ綔绫诲瀷
actionPrepareSts, // 鍔ㄤ綔杩涘害
agvId, // AGV
now // 宸ヤ綔鏃堕棿
));
- lastDirection = nextDirection;
+ lastDirection = nextLaneDir;
+
+ if (nextDirection.equals(oppNextLaneDir)) {
+ reverse = true;
+ }
+ } else {
+ if (nextDirection.equals(oppNextLaneDir)) {
+ nextDirection = nextLaneDir;
+ reverse = true;
+ }
}
+
+ nextDirection = nextLaneDir;
} else if (null != lastLaneDir) {
+ final double oppLastLaneDir = (lastLaneDir + 180) % 360;
+ if (nextDirection.equals(oppLastLaneDir)) {
+ reverse = true;
+ }
nextDirection = lastLaneDir;
if (!lastDirection.equals(nextDirection)) {
--
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